Probabilistic sonar scan matching for an AUV
dc.contributor.author
dc.date.accessioned
2010-05-21T12:17:41Z
dc.date.available
2010-05-03T15:09:37Z
2010-05-21T12:17:41Z
dc.date.issued
2009
dc.identifier.citation
Hernandez, E., Ridao, P., Ribas, D., i Mallios, A. (2009). Probabilistic sonar scan matching for an AUV. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 255-260. Recuperat 21 maig 2010,a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5354656
dc.identifier.isbn
978-1-4244-3803-7
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dc.description.abstract
This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
IEEE
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Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2009.5354656
dc.relation.ispartof
© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 2009, p. 255-260
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Probabilistic sonar scan matching for an AUV
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi